Rubric: Proceedings - General Proceedings

VDMA; VDE; ITG; DGR; IFR (Ed.)

ISR 2016

47th International Symposium on Robotics Robotics in the era of digitalisation June, 21-22, 2016, Munich, Germany

2016, 695 pages, 140 x 124 mm, Slimlinebox, CD-Rom
ISBN 978-3-8007-4231-8
Personal VDE Members are entitled to a 10% discount on this title

Content Foreword

Robotics in the era of Digitalization! After two years the 47th International Symposium on Robotics ISR 2016 will again be held in Munich, Germany, from June 21-22, 2016. This international conference is jointly organized by the Mechanical Engineering Industry Association (VDMA) and the Information Technology Society (ITG) within VDE and supported by Fraunhofer IPA and the German Society for Robotics (DGR).

The international trade fair for automation and mechatronics AUTOMATICA has again been chosen as conference platform. AUTOMATICA expects more than 800 exhibitors and more than 35,000 visitors from June 21-24, 2016. As the fair will last longer than ISR 2016, there is the possibility and time for all conference participants to visit this interesting exhibition during and after the conference. In about 150 presentations, ISR 2016 will give an insight to the latest state-of-the-art robot technology to participants from both industry and science. Sessions will be held on Modeling, Planning and Control as well as Components & Technologies, also Robotics in Production / Industrial Robots will be addressed as well as Service Robotics. Additionally there will be sessions on Robotics in New Markets & Applications and on the workplace of the future. Presentations of the final nominees of the Joseph F. Engelberger Award highlight the conference's gala banquet. Of course there will be a conference poster session and video presentations of latest robot development, that can be visited between and parallel to the conference sessions. We cordially invite researchers and experts from the field of robotics to send in their abstracts and we are full of expectations for an exciting conference program in June 2016.

VDMA – Verband Deutscher Maschinen- und Anlagenbau e.V.

VDE – Verband der Elektrotechnik Elektronik Informationstechnik e.V.
Der VDE ist einer der großen europäischen Verbände für Branchen und Berufe der Elektro- und
Informationstechnik. Eine internationale Experten-Plattform für Wissenschaft, Normung und
Produktprüfung – interdisziplinär, eng verflochten, und einmalig auf der Welt. Eine geballte
Konzentration an Erfahrung, Marktkenntnissen und technologischem Know-how.

ITG – Informationstechnische Gesellschaft im VDE
Die ITG ist die nationale Vereinigung aller auf dem Gebiet der Informationstechnik Tätigen in
Wirtschaft, Verwaltung, Lehre und Forschung und Wissenschaft. Ihre Ziele sind die Förderung der wissenschaftlichen und technischen Weiterentwicklung und Bewertung der Informationstechnik in Theorie und Praxis. 1954 als Nachrichtentechnische Gesellschaft gegründet, ist sie die älteste Fachgesellschaft im VDE.

DGR – Deutsche Gesellschaft für Robotik

IFR – International Federation of Robotics

This conference proceeding contains the following papers, purchasable as PDF download with payment via credit card / PayPal:

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Sampling-based Path Planning to Cartesian Goal Positions for a Mobile Manipulator Exploiting Kinematic Redundancy

Authors:

Seyboldt, Ruben; Frese, Christian; Zube, Angelika

Real Time Texture Generation in Optimized Large-Scale Polygon Meshes with KinectFusion

Authors:

Mock, Alexander; Wiemann, Thomas; Borrmann, Dorit; Igelbrink, Tristan; Hertzberg, Joachim

Experimental Robot Inverse Dynamics Identification Using Classical and Machine Learning Techniques

Authors:

Bargsten, Vinzenz; Gea Fernandez, Jose de; Kassahun, Yohannes

The Advantages of Using Behavior Trees in Mult-Robot Systems

Authors:

Colledanchise, Michele; Marzinotto, Alejandro; Dimarogonas, Dimos V.; Oegren, Petter

Automatic Testing Framework for Benchmarking Applications

Authors:

Weisshardt, Florian; Koehler, Florian

Active Ankle – an Almost-Spherical Parallel Mechanism

Authors:

Simnofske, Marc; Kumar, Shivesh; Bongardt, Bertold; Kirchner, Frank

Optical Workspace Monitoring System for Safeguarding Tools on the Mobile Manipulator VALERI

Authors:

Vogel, Christian; Saenz, Jose

Tactile Sensors for Safety and Interaction with the Mobile Manipulator VALERI

Authors:

Saenz, Jose; Fritsche, Markus

Development of a Self-Adaptive Gripper and Implementation of a Gripping Reflex to Increase the Dynamic Payload Capacity

Authors:

Manz, Marc; Bartsch, Sebastian; Simnofske, Marc; Kirchner, Frank

An Optical Tactile Sensor for Measuring Force Values and Directions for Several Soft and Rigid Contacts

Authors:

Kolker, Alexey; Jokesch, Michael; Thomas, Ulrike

Do Robots Create Jobs? The Data Says Yes!

Authors:

Doyle, Bob

Reduction of Heart Rate by Robot Trajectory Profiles in Cooperative HRI

Authors:

Kuehnlenz, Barbara; Kuehnlenz, Kolja

Attribute Enabled Programming of Industrial Robots

Authors:

Wang, Jianjun; Rossano, Gregory; Fuhlbrigge, Thomas; Staab, Harald; Boca, Remus

Example Application of ISO/TS 15066 to a Collaborative Assembly Scenario

Authors:

Matthias, Bjoern; Reisinger, Thomas

A Flexible Architecture for Automatically Generating Robot Applications based on Expert Knowledge

Authors:

Macho, Miroslav; Naegele, Ludwig; Hoffmann, Alwin; Angerer, Andreas; Reif, Wolfgang

Establishing Performance Guarantees for Behavior-Based Robot Missions Using an SMT Solver

Authors:

Tang, Feng; Lyons, Damian M.; Arkin, Ronald C.

Industrial implementation of a multi-task redundancy resolution at velocity level for highly redundant mobile manipulators

Authors:

Scheurer, Christian; Fiore, Mario Daniele; Sharma, Shashank; Natale, Ciro

Data-Driven Human Grasp Movement Analysis

Authors:

Marino, Hamal; Gabiccini, Marco; Leonardis, Ales; Bicchi, Antonio

Distance Metrics for Path Planning with Dynamic Roadmaps

Authors:

Voelz, Andreas; Graichen, Knut

Fast Edge-Based Detection and Localization of Transport Boxes and Pallets in RGB-D Images for Mobile Robot Bin Picking

Authors:

Holz, Dirk; Behnke, Sven

May I be your Personal Coach? Bringing Together Person Tracking and Visual Re-identification on a Mobile Robot

Authors:

Wengefeld, Tim; Eisenbach, Markus; Trinh, Thanh Q.; Gross, Horst-Michael

Texture Characterization with Semantic Attributes: Database and Algorithm

Authors:

Bormann, Richard; Esslinger, Dominik; Hundsdoerfer, Daniel; Haegele, Martin; Vincze, Markus

ENACT: An Efficient and Extensible Entity-Actor Framework for Modular Robotics Software Components

Authors:

Werner, Tobias; Gradmann, Michael; Orendt, Eric M.; Sand, Maximilian; Spangenberg, Michael; Henrich, Dominik

Affordance Estimation For Vision-Based Object Replacement on a Humanoid Robot

Authors:

Mustafa, Wail; Waechter, Mirko; Szedmak, Sandor; Agostini, Alejandro

A Framework for Robot Control Software Development and Debugging Using a Real-Time Capable Physics Simulation

Authors:

Aichele, Fabian; Schenke, Bjoern; Eckstein, Bernd; Groz, Albert

Modularization of skill ontologies for industrial robots

Authors:

Jacobsson, Ludwig; Malec, Jacek; Nilsson, Klas

User-Defined Transition between Path Segments in Terms of Tolerances in Speed and Position Deviation

Authors:

Weber, Wolfgang; Koenig, Alexander; Nodem, Dany Xavier

Robot Assembly Skills Based on Compliant Motion

Authors:

Dai, Fan; Wahrburg, Arne; Matthias, Bjoern; Ding, Hao

Editing and synchronizing multi-robot playback programs

Authors:

Riedl, Michael; Baumgartl, Johannes; Henrich, Dominik

From Virtual Testbeds to Real Lightweight Robots: Development and deployment of control algorithms for soft robots, with particular reference to industrial peg-in-hole insertion tasks

Authors:

Grinshpun, Georgij; Cichon, Torben; Dipika, Dipika; Rossmann, Juergen

Experimental verification of the advantages of a modular open chain metamorphic manipulator

Authors:

Valsamos, Charalampos; Moulianitis, Vassilis; Aspragathos, Nikos

Online Calibration of Industrial Robots using Inertial Sensors

Authors:

Vieler, Hendrik; Lechler, Armin; Grimm, Jochen

Practical trajectory designs for semi-automation of forestry cranes

Authors:

Fodor, Szabolcs; Freidovich, Leonid; Vazquez, Carlos

Energy-Aware Mobile Robot Exploration with Adaptive Decision Thresholds

Authors:

Rappaport, Micha

Autonomous Surveying of Underfloor Voids

Authors:

Julia, Miguel; Holloway, Mathew; Reinoso, Oscar; Childs, Peter R. N.

Design and implementation of a spherical joint for mobile manipulators

Authors:

Froehlich, Tim; Reiser, Ulrich

New development for flexible robot supported quality investigations in the field of Human Robot Collaboration in automotive industries

Authors:

Bindel, Steffen; Keller, Sebastian; Koenig, Alexander

Sensor Glove for an Intuitive Human-Machine Interface for Exoskeletons as Manual Load Handling Assistance

Authors:

Stelzer, Patrick; Kraus, Werner; Pott, Andreas

SmartWorkbench: Toward Adaptive and Transparent User Assistance in Industrial Human-Robot Applications

Authors:

Hoecherl, Johannes; Schlegl, Thomas; Berlehner, Thomas; Kuhn, Harald; Wrede, Britta

Model Predictive Contact Control for Human-Robot Interaction

Authors:

Zube, Angelika; Hofmann, Jonas; Frese, Christian

Control and Analysis of a Therapeutic Massage Robot: A Milestone of Human-Robot in Physical Contact

Authors:

Luo, Ren C.; Hsu, Chien-Wei; Chen, Shen-Yu

A Sampling-Based Tree Planner for Navigation Among Movable Obstacles

Authors:

Castaman, Nicola; Tosello, Elisa; Pagello, Enrico

What Older Adults would Like a robot to Do in Their Homes – First results from a User Study in the Homes of Users

Authors:

Vincze, Markus; Fischinger, David; Bajones, Markus; Wolf, Daniel; Suchi, Markus; Lammer, Lara; Weiss, Astrid; Pripfl, Juergen; Koertner, Tobias; Gisinger, Christoph

Enabling Autonomous Locomotion into Sand – A Mobile and Modular Drilling Robot

Authors:

Becker, Felix; Boerner, Simon; Lichtenheldt, Roy; Zimmermann, Klaus

A robot for spray applied insulation in underfloor voids

Authors:

Holloway, Mathew; Julia, Miguel; Childs, Peter

Automatic Tire Changing of Large Mining Vehicles with Industrial Robots

Authors:

Staab, Harald; Boca, Remus; Martinez, Carlos; Rossano, Greg; Eakins, Will; Lasko, Dan; Fuhlbrigge, Tom

Sensorless Null-Space Admittance Control for Redundant Manipulators

Authors:

Wahrburg, Arne; Boes, Johannes; Matthias, Bjoern; Dai, Fan; Ding, Hao

A wireless haptic data suit for controlling humanoid robots

Authors:

Graziano, Alessandro; Tripicchio, Paolo; Avizzano, Carlo Alberto; Ruffaldi, Emanuele

Fault propagation and graph-based path generation for skill-based robot programming

Authors:

Lehmann, Christian; Le, Duc Tho

Planning and Execution of Collision-free Multi-robot Trajectories in Industrial Applications

Authors:

Angerer, Andreas; Hoffmann, Alwin; Larsen, Lars; Vistein, Michael; Kim, Jonghwa; Kupke, Michael; Reif, Wolfgang

Anytime Assembly Sequence Planning

Authors:

Andre, Robert; Thomas, Ulrike

A Complete Automated Chain for Flexible Assembly using Recognition, Planning and Sensor-Based Execution

Authors:

Nottensteiner, Korbinian; Bodenmueller, Tim; Kassecker, Michael; Roa, Maximo A.; Stemmer, Andreas; Stouraitis, Theodoros; Seidel, Daniel; Thomas, Ulrike

Improved Ergonomics via an Intelligent Movement and Gesture Detection Jacket

Authors:

Kuschan, Jan; Schmidt, Henning; Krueger, Joerg

Development and Control of the Multi-Legged Robot MANTIS

Authors:

Bartsch, Sebastian; Manz, Marc; Kampmann, Peter; Dettmann, Alexander; Hanff, Hendrik; Langosz, Malte; Szadkowski, Kai von; Hilljegerdes, Jens; Simnofske, Marc; Kloss, Philipp; Meder, Manuel; Kirchner, Frank

The Neurorobotic Platform: A simulation environment for brain-inspired robotics

Authors:

Roehrbein, Florian; Gewaltig, Marc-Oliver; Laschi, Cecilia; Klinker, Gudrun; Levi, Paul; Knoll, Alois

Camera-based Obstacle Classification for Automated Reach Trucks Using Deep Learning

Authors:

Himstedt, Marian; Maehle, Erik

Using a Flexible Skill-Based Approach to Recognize Objects in Industrial Scenarios

Authors:

Andersen, Rasmus S.; Schou, Casper; Damgaard, Jens S.; Madsen, Ole

Real-time bearing fault probability estimation using onsite learning for industrial robots

Authors:

Ji Hoon, Joung; Hyunkyu, Lim

Fast and efficient traversable region extraction using quantized elevation map and 2D laser rangefinder

Authors:

Lee, Lae-Kyoung; Oh, Se-Young

Laser scanner detection and localization of successively arranged mobile robots

Authors:

Halmheu, Rainer; Otto, Boris; Pauleser, Thomas

Analytic Forward and Inverse Kinematics of a Multi-Elastic-Link Robot Arm

Authors:

Alsayegh, Myrel; Mues, Freia Irina; Malzahn, Joern; Bertram, Torsten

3D Scanning of Workpieces with Cooperative Industrial Robot Arms

Authors:

Wagner, Maximilian; Hess, Peter; Reitelshoefer, Sebastian; Franke, Joerg

Visual/Tactile sensing to monitor grasps with robot-hand for planar elastic objects

Authors:

Gil, Pablo; Mateo, Carlos M.; Delgado, Angel; Torres, Fernando

Development of an intelligent care cart and new supplies concepts for care homes and hospitals

Authors:

Graf, B.; King, R. S.; Schiller, C.; Roessner, A.

Test concept for a mobile robot with optimized traction

Authors:

Barthuber, Ludwig; Fyraj, Klajdo; Firsching, Peter

Energy Efficient Kinodynamic Motion Planning for Holonomic AGVs in Industrial Applications using State Lattices

Authors:

Kuenemund, Frank; Hess, Daniel; Roehrig, Christof

A proposal of extracting of motion primitives by analyzing tracked data of hand motion from human demonstration

Authors:

Pham, Ngoc Hung; Yoshimi, Takashi

A new Multi-Modal Approach towards reliable Bin-Picking Application

Authors:

Mueller, Veit; Behrens, Roland; Elkmann, Norbert

Simultaneous Calibration of Odometry and external Sensors of Omnidirectional Automated Guided Vehicles (AGVs)

Authors:

Hess, Daniel; Kuenemund, Frank; Roehrig, Christof

Influence of Grasping Position to Robot Assembling Task

Authors:

Suyama, Akira; Aiyama, Yasumichi

A Virtual Space Robotics Testbed for Optical Sensors in Aerospace Applications

Authors:

Emde, Markus; Priggemeyer, Marc; Steil, Thomas; Grinshpun, Georgij; Rossmann, Juergen

Folding mechanism for a remotely deployable robotic vehicle

Authors:

Holloway, Mathew; Julia, Miguel; Childs, Peter

Context-aware Planning by Refinement for Personal Robots in Smart Homes

Authors:

Ramoly, Nathan; Bouzeghoub, Amel; Finance, Beatrice

Dynamic modeling of new modular manipulators

Authors:

Forgo, Zoltan; Szilagyi, Arnold

On Cognitive RobotWoodworking in SMErobotics

Authors:

Haage, Mathias; Profanter, Stefan; Kessler, Ingmar; Perzylo, Alexander; Somani, Nikhil; Soernmo, Olof; Karlsson, Martin; Robertz, Sven Gestegard; Nilsson, Klas; Resch, Ludovic; Marti, Michael